CN104406583A - Combined defining method for carrier attitude of double-star sensor - Google Patents
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Abstract
The invention relates to a combined defining method for the carrier attitude of a double-star sensor, and belongs to the field of celestial navigation. The method comprises the following steps: firstly, in an astronomical refraction correction method based on the star reference vectors for a star sensor, realizing the correction of astronomical refraction by amending the star reference vectors; secondly, in a ship body attitude determination method based on the star observation vectors of a combined double-star sensor, combining the observation vectors of each recognizable star of the double-star sensor in two fields into an observation vector matrix, and finally completing ship body attitude resolving with a corresponding star reference vector matrix. On the basis of simplifying the astronomical refraction correcting algorithm of the star sensor, the capability of obtaining the ship body attitude of the double-star sensor is improved at the same time. The main contents refer to the two aspects of the astronomical refraction correction method based on the star reference vectors and the ship body attitude determination method based on the star observation vectors of the combined double-star sensor.
Description
Technical field
The present invention relates to a kind of double star sensor and combine the method determining Attitude.Belong to celestial navigation field.
Background technology
Star sensor take fixed star as object of reference, at a time complete star chart to sky by probe unit to catch, through data processing unit, a series of process such as the extraction of fixed star barycenter, importance in star map recognition, star tracking, Attitude Calculation are carried out to star chart, the high-precision attitude information in final acquisition star sensor relative inertness space is a kind of high-precision attitude measuring.Current star sensor is widely used in aerospace flight vehicle attitude measurement, and along with the maturation of high precision Large visual angle star sensor technology, star sensor can complete Attitude and measure.In order to improve Attitude measuring accuracy, star sensor adopts double star sensor associated working pattern usually, and astronomical refraction modification method and associating attitude determination method are two gordian techniquies that double star sensor is applied to Attitude measurement.
About astronomical refraction modification method, be generally that measurement vector is revised, but the method needs the Horizon elevation angle (or zenith distance) obtaining measurement vector, and the Horizon elevation angle of calculating observation vector need ship body attitude angle.In sum, based on the modification method of measurement vector, need to introduce outside attitude angle reference quantity (as inertial navigation), or first do not carry out astronomical refraction correction, but carry out successive ignition correction again after obtaining rough initial attitude.
About associating attitude determination method, conventional method requires that the optical axis obtaining two star sensor relative reference coordinate systems first respectively points to, the attitude angle obtaining hull relative reference coordinate system is resolved again according to the installation matrix of star sensor, and single star sensor identification more than 4 fixed stars could obtain optical axis sensing, when two star sensors can not provide the accurate sensing of respective optical axis relative reference coordinate system simultaneously, double star sensor cannot obtain Attitude.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of double star sensor is provided to combine the method determining Attitude, simplify star sensor astronomical refraction correction algorithm, reduce the identifiable design fixed star restricted number of double star sensor acquisition needed for ship body attitude angle, improve the ability that double star sensor obtains Attitude.
The object of the present invention is achieved like this: a kind of double star sensor is combined and determined attitude of carrier method, said method comprising the steps of:
Step one, astronomical refraction correction based on fixed star reference vector
1, by fixed star S
iat the unit reference vector V of J2000.0 coordinate system
i, be transformed into the hull horizontal system of coordinates, the unit vector after conversion is designated as V
dPi,
V
ibe transformed into V
dPitransformational relation be:
（1）
In formula (1), La, Lo are respectively geographic latitude and the longitude of observation station, x
p, y
pghandler motion parameter respectively, GAST is Greenwich apparent time, ε
afor mean obliquity, Δ Ψ, Δ ε are respectively nutation of longitude and nutation in obliquity, Z
a, θ
aand ξ
afor equator precession of the equinoxes parameter;
2, the Horizon position angle A of fixed star is calculated
dPiwith Horizon elevation angle E
dPi
V is calculated according to formula (1)
dPibe expressed as [x
dPiy
dPiz
dPi]
t, V
dPihorizon position angle A
dPi, E
dPiwith x
dPi, y
dPi, z
dPithere is following relation:
（2）
3, according to the Horizon elevation angle to V
dPicarry out astronomical refraction correction, obtain the revised reference units vector V of astronomical refraction '
dPi
（3）
Wherein:
, ρ is astronomical refraction correction,
;
Step 2, to determine based on the Attitude of associating double star sensor measurement vector
1, adopt following formula that star sensor measurement vector is transformed into deck in ship structure system
（4）
Wherein, R
s1 b, R
s2 bbe respectively the installation matrix of star sensor 1, star sensor 2, W
1, W
2be respectively the measurement vector matrix of sensor 1, sensor 2;
2, star sensor reference vector is transformed into hull Horizon system
Star sensor 1, star sensor 2 are identified the reference vector matrix V of fixed star
1, V
2, obtain reference vector after being transformed into the astronomical refraction correction restructuring of hull Horizon system also respectively through formula (1), (2), (3) and be respectively V
1', V
2';
3, composition joint observation and reference vector matrix resolve ship body attitude angle
By the measurement vector matrix W of star sensor 1, the relative deck in ship structure system of star sensor 2
b1, W
b2, composition joint observation vector matrix W
b, by V
1', V
2' reference vector matrix under hull Horizon system, composition associating reference vector matrix V
dP', utilize QUEST algorithm to carry out attitude algorithm, obtain according to formula (5) pose transformation matrix that deck in ship structure is tied to hull Horizon system, finally obtain ship body attitude angle according to formula (6),
（5）
（6）
Wherein, W
b=[W
b1w
b2], V
dP'=[V
1' V
2'],
, R
b dP(i, j) is attitude matrix R
b dPin the i-th row, jth column element, course K needs to carry out quadrant judgement.
Compared with prior art, the present invention has following beneficial effect:
One is the astronomical refraction modification method based on fixed star reference vector, advantage is directly reference vector correction, do not need to introduce external attitude data, more do not need numerous and diverse conversion and iterative process, this method adopts the model based on Chinese astronomical almanac modification method in addition, higher than general simplified model precision, less than accurate model calculated amount, precision can reach requirement simultaneously;
Two is based on associating double star sensor star observation vector determination Attitude method, advantage is that each star sensor only need have at least 1 identifiable design fixed star to combine and determine ship body attitude angle, reduce the identifiable design fixed star restricted number of double star sensor acquisition needed for ship body attitude angle, greatly improve the ability that double star sensor obtains Attitude.
Accompanying drawing explanation
Fig. 1 is J2000.0 coordinate system definition figure.
Fig. 2 is the coordinate system definition figure of body-fixed coordinate system and hull Horizon system.
Fig. 3 is the coordinate system definition figure of deck in ship structure system and the quick coordinate system of star.
Fig. 4 is that double star sensor and SINS Attitude ratio of precision are to trial curve figure.
Embodiment
The present invention relates to a kind of double star sensor and combine the method determining Attitude, method comprises the following steps: one is the astronomical refraction modification method of star sensor based on fixed star reference vector, namely realizes the correction of astronomical refraction by revising fixed star reference vector; Two is the Attitude defining method based on associating double star sensor star observation vector, combine for measurement vector matrix by the measurement vector of every identifiable design fixed star in double star sensor two visual fields, finally complete Attitude with corresponding fixed star reference vector matrix and resolve.
Describe for ease of content of the present invention, the coordinate system definition related in this is to invention, related notion and symbol implication etc. carry out brief description.
One, related description
1, relative coordinate system definition
See Fig. 1 to Fig. 3.
2, related notion and symbol implication
R
x(q), R
y(q), R
zq (): basic Eulerian angle rotational transformation matrix, represents respectively and is rotated counterclockwise q angle around X, Y and Z axis, have following canonical form:
，
，
Star sensor attitude angle: the crab angle of star sensor under J2000.0 coordinate system, the angle of pitch, roll angle.
Ship body attitude angle: the course angle of hull under the inertial navigation horizontal system of coordinates (K), pitch angle (θ), roll angle (Ψ).
S
i: represent fixed star to be observed.
v i: fixed star Si is at the unit reference vector (theoretical value) of J2000.0 coordinate system.
(1)
In formula (1): α
i, δ
ifor fixed star S
iright ascension under J2000.0 coordinate system, declination, obtain by searching star catalogue.
(u
si, v
si) for fixed star is by the coordinate of optical system of star sensor in star sensor imageing sensor.
W
i: fixed star Si is at star sensor coordinate system O
s-X
sy
sz
sunit measurement vector (observed reading).
(2)
In formula (2), D is the pixel dimension of star sensor imageing sensor, (u
0, v
0) be origin, (u
si, v
si) be asterism coordinate in the image sensor, f is focal length.
R
s bfor star sensor coordinate system is to the installation transition matrix of deck in ship structure system, be used for stating the coordinate transformation relation of star sensor coordinate system to deck in ship structure system.
A
0, E
0, γ
0represent the initial installation position angle of star sensor in deck in ship structure system, the initial installation angle of pitch respectively and initially crab angle be installed.Wherein R
s bwith A
0, E
0, γ
0relation is as shown in formula 3 and formula 4.
(3)
(4)
Wherein
According to above-mentioned definition star sensor coordinate system, when star sensor initial settling angle is 0, namely suppose that star sensor coordinate system and deck in ship structure mean to being parallel (true origin is different), the star sensor attitude angle resolved is ship body attitude angle (namely now the crab angle of star sensor under J2000.0 coordinate system, the angle of pitch, roll angle distinguish crab angle, roll angle, the angle of pitch of corresponding inertial navigation Horizon system pontoon).
Based on the astronomical refraction modification method of fixed star reference vector, be by fixed star reference units vector V
ibe converted to hull Horizon system, obtain the fixed star reference units vector V of hull Horizon system
dPi, calculate the Horizon elevation angle of fixed star, according to the Horizon elevation angle to V
dPicarry out astronomical refraction correction, obtain the revised reference units vector V of astronomical refraction '
dPi.
Mainly comprise the following steps:
1, by fixed star S
iat the unit reference vector V of J2000.0 coordinate system
i, be transformed into the hull horizontal system of coordinates, the unit vector after conversion is designated as V
dPi.
V
ibe transformed into V
dPitransformational relation be:
(6)
In formula (6), La, Lo are respectively geographic latitude and the longitude of observation station, x
p, y
pghandler motion parameter respectively, GAST is Greenwich apparent time, ε
afor mean obliquity, Δ Ψ, Δ ε are respectively nutation of longitude and nutation in obliquity, Z
a, θ
aand ξ
afor equator precession of the equinoxes parameter.
2, the Horizon position angle A of fixed star is calculated
dPiwith Horizon elevation angle E
dPi.
V is calculated according to formula (6)
dPibe expressed as [x
dPiy
dPiz
dPi]
t, V
dPihorizon position angle A
dPi, E
dPiwith x
dPi, y
dPi, z
dPithere is following relation:
(7)
A
dPineed to carry out quadrant judgement:
Table 1 fixed star Horizon azimuth sectors judges
| Condition | Result | Remarks |
| And | ||
| And | ||
| And | ||
| And |
3, according to the Horizon elevation angle to V
dPicarry out astronomical refraction correction, obtain the revised reference units vector V of astronomical refraction '
dPi.
Star sensor peculiar to vessel works in endoatmosphere, due to the impact of atmospheric refraction, and the actual observation Horizon elevation angle E' of fixed star
dPibe greater than rational horizon elevation angle E
dPi, namely need reference vector V
dPicarry out astronomical refraction correction:
(8)
In formula (8), ρ is astronomical refraction correction, and star sensor peculiar to vessel is installed the elevation angle and is generally greater than 30 °, adopts following correction model:
(9)
In formula (9), the unit of ρ is rad.A, B, computing formula are respectively:
（10）
In formula (10), t temperature is (DEG C), P is air pressure (hpa).
In formula (9), ρ
0computing formula is:
(11)
In formula (9), work as E
dPiduring >45 °, a is 1; As 14 °≤E
dPiwhen≤45 °, a computing formula the following is:
(12)
With star sensor observation, the corresponding angle of pitch of different fixed star is different, and astronomical refraction correction and the elevation angle are closely related, and therefore revise respectively every fixed star and just can reach the highest precision.Carry out astronomical refraction correction according to formula (8) and obtain E'
dPi, restructuring obtains V'
dPi:
(13)
Three, based on the Attitude defining method of associating double star sensor measurement vector
Based on the Attitude defining method of associating double star sensor measurement vector, be transformed into deck in ship structure system by unified for the star observation vector of two star sensors, be combined into joint observation vector matrix; The fixed star reference vector of two star sensors is transformed into hull Horizon system, and astronomical refraction correction is carried out to the Horizon system reference vector of every fixed star, composition associating reference vector matrix; Resolve Attitude matrix according to joint observation vector matrix and associating reference vector matrix again, and then draw ship body attitude angle.
Mainly comprise the following steps:
1, star sensor measurement vector is transformed into deck in ship structure system
If star sensor 1 identifies that the measurement vector matrix of fixed star is W
1, star sensor 2 identifies that the measurement vector matrix of fixed star is W
2, respectively by W
1, W
2be transformed into deck in ship structure system, obtain W
b1, W
b2:
(14)
In formula (14), R
s1 b, R
s2 bbe respectively the installation matrix of star sensor 1, star sensor 2.
2, star sensor reference vector is transformed into hull Horizon system
If identify in star sensor 1,2 that the reference vector matrix of fixed star is respectively V
1, V
2, be transformed into the reference vector of hull Horizon system also respectively after astronomical refraction correction (every fixed star is revised respectively) restructuring and be respectively V
1', V
2', astronomical refraction modification method is shown in that formula (6) is to formula (13).
3, composition joint observation and reference vector matrix resolve ship body attitude angle
Due to W
b1, W
b2be all the measurement vector matrix of relative deck in ship structure system, joint observation vector matrix W can be formed
b:
W
b=[W
b1W
b2] (15)
V
1', V
2' be all reference vector matrix under hull Horizon system, associating reference vector matrix V can be formed
dP':
V
DP'=[V
1' V
2'] (16)
W
band V
dP' there is following transformational relation:
(17)
R in formula (17)
b dPbe the pose transformation matrix that deck in ship structure is tied to hull Horizon system, available QUEST algorithm carries out attitude algorithm.
R
b dPwith the pass of ship body attitude angle be:
(18)
Therefore have:
(19)
R in formula (19)
b dP(i, j) is attitude matrix R
b dPin the i-th row, jth column element, course K needs to carry out quadrant judgement:
Table 2 ship body attitude angle course K quadrant judges
Embodiment:
Time: the 19h50m07s800ms during July in 2014 of Beijing on the 9th
Place: east longitude 120.293086 °, north latitude 31.945213 °
Temperature: 28.2 DEG C, air pressure: 1008.3hpa.
Test is carried out under hull mooring condition.
1, test condition and parameter
2, Attitude resolves implementation procedure
Star sensor observation fixed star and recognition result, star sensor 1 identifies 5, and star sensor 2 identifies 3, and data are as following table:
(1) astronomical refraction correction
For star sensor 1 the 1st fixed star.J2000.0 reference vector is
Be transformed into hull Horizon system, obtain V
dPS1=[0.229426 0.671988 0.704128]
t; Horizon position angle A
dPS1=71.9528 °, unmodified Horizon elevation angle E
dPS1=42.2207 °, astronomical refraction correction ρ=59.34 ", Horizon elevation angle E' after astronomical refraction correction
dPS1=42.2372 °, Horizon reference vector V' after astronomical refraction correction
dPS1=[0.229366 0.672201 0.703944]
t.
(2) double star sensor associating star observation vector determination Attitude
Star sensor star observation vector W
1, W
2for
W
1, W
2be transformed into deck in ship structure system, obtain W
b1, W
b2and form joint observation vector W
bmatrix
Fixed star reference vector V
1, V
2be transformed into hull Horizon system, carry out astronomical refraction correction and obtain V
1', V
2' and composition associating reference vector matrix V
dP'
According to formula (17), resolve and obtain attitude matrix R
b dP
According to formula (19), resolving ship body attitude angle is
K=253.8454°
ψ=0.0340°
θ =0.0349°
3, precision comparison result
Adopt high-precision laser gyroscope SINS Attitude data as comparison reference, result:
ΔK
mean=14.6″，ΔK
std=6.26″；
Δψ
mean=10.6″，Δψ
std=5.14″；
Δθ
mean=-1.15″，Δθ
std=5.15″。
Comparison curve is shown in Fig. 4.
Claims (1)
1. double star sensor is combined and is determined an attitude of carrier method, it is characterized in that said method comprising the steps of:
Step one, astronomical refraction correction based on fixed star reference vector
1, by fixed star S
iat the unit reference vector V of J2000.0 coordinate system
i, be transformed into the hull horizontal system of coordinates, the unit vector after conversion is designated as V
dPi,
V
ibe transformed into V
dPitransformational relation be:
（1）
In formula (1), La, Lo are respectively geographic latitude and the longitude of observation station, x
p, y
pghandler motion parameter respectively, GAST is Greenwich apparent time, ε
afor mean obliquity, Δ Ψ, Δ ε are respectively nutation of longitude and nutation in obliquity, Z
a, θ
aand ξ
afor equator precession of the equinoxes parameter;
2, the Horizon position angle A of fixed star is calculated
dPiwith Horizon elevation angle E
dPi
V is calculated according to formula (1)
dPibe expressed as [x
dPiy
dPiz
dPi]
t, V
dPihorizon position angle A
dPi, E
dPiwith x
dPi, y
dPi, z
dPithere is following relation:
（2）
3, according to the Horizon elevation angle to V
dPicarry out astronomical refraction correction, obtain the revised reference units vector V of astronomical refraction '
dPi
（3）
Wherein:
, ρ is astronomical refraction correction,
;
Step 2, to determine based on the Attitude of associating double star sensor measurement vector
1, adopt following formula that star sensor measurement vector is transformed into deck in ship structure system
（4）
Wherein, R
s1 b, R
s2 bbe respectively the installation matrix of star sensor 1, star sensor 2, W
1, W
2be respectively the measurement vector matrix of sensor 1, sensor 2;
2, star sensor reference vector is transformed into hull Horizon system
Star sensor 1, star sensor 2 are identified the reference vector matrix V of fixed star
1, V
2, obtain reference vector after being transformed into the astronomical refraction correction restructuring of hull Horizon system also respectively through formula (1), (2), (3) and be respectively V
1', V
2';
3, composition joint observation and reference vector matrix resolve ship body attitude angle
By the measurement vector matrix W of star sensor 1, the relative deck in ship structure system of star sensor 2
b1, W
b2, composition joint observation vector matrix W
b, by V
1', V
2' reference vector matrix under hull Horizon system, composition associating reference vector matrix V
dP', obtain according to formula (5) pose transformation matrix that deck in ship structure is tied to hull Horizon system, finally obtain ship body attitude angle according to formula (6),
（5）
（6）
Wherein, W
b=[W
b1w
b2], V
dP'=[V
1' V
2'],
, R
b dP(i, j) is attitude matrix R
b dPin the i-th row, jth column element, K is course angle, θ is pitch angle, Ψ is roll angle, and course K needs to carry out quadrant judgement.
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| CN105318871A (en) * | 2015-11-09 | 2016-02-10 | 中国人民解放军63680部队 | Method for dynamic calibration of mounting matrixes of two star sensors and carriers |
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| CN105928524A (en) * | 2016-04-21 | 2016-09-07 | 清华大学 | Designing method for installation orientation of three-field star sensor on sun-synchronous orbital satellite |
| CN106052678A (en) * | 2016-05-23 | 2016-10-26 | 中国空间技术研究院 | Polymerization type star sensor and satellite attitude determination method thereof |
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| CN107883944B (en) * | 2016-09-29 | 2021-03-09 | 北京航空航天大学 | Missile attitude maneuver method for realizing indirect sensitive horizon by strapdown star sensor |
| CN106441283A (en) * | 2016-10-12 | 2017-02-22 | 上海航天控制技术研究所 | Data fusion method for autonomous-calibration star vector level star sensor with multiple fields of view |
| CN109459065A (en) * | 2018-12-26 | 2019-03-12 | 长光卫星技术有限公司 | A kind of gyro installation matrix scaling method based on satellite inertial Space Rotating posture |
| CN109459065B (en) * | 2018-12-26 | 2020-06-19 | 长光卫星技术有限公司 | Gyro installation matrix calibration method based on satellite inertial space rotation attitude |
| CN110146093A (en) * | 2019-06-19 | 2019-08-20 | 北京理工大学 | Binary asteroid detection independently cooperates with optical navigation method |
| CN112212856A (en) * | 2020-09-21 | 2021-01-12 | 中国科学院长春光学精密机械与物理研究所 | High-precision attitude measurement method of near-ground daytime star sensor |
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